U.S. patent number 5,537,017 [Application Number 08/338,608] was granted by the patent office on 1996-07-16 for self-propelled device and process for exploring an area with the device.
This patent grant is currently assigned to Siemens Aktiengesellschaft. Invention is credited to Wendelin Feiten, Marcus Moller, Werner Neubauer.
United States Patent |
5,537,017 |
Feiten , et al. |
July 16, 1996 |
Self-propelled device and process for exploring an area with the
device
Abstract
The device and process is utilized for exploring an unknown
working area. It is not necessary for this purpose to apply any
markings in the area before using the device and the area does not
have to have any special characteristics for determining location.
The described device takes markings with it, for example small
metal plates or a power supply cable which it lays out while it
moves along a boundary of the area. It then turns around and moves
back along the marking, laying out new markings. On encountering
the next wall of the area it turns, picks up the previously
laid-out markings and again lays new markings. This operation
continues until the entire area has been covered. An example of the
use of the device could be an industrial vacuum cleaner for
cleaning carpet floors.
Inventors: |
Feiten; Wendelin (Neubiberg,
DE), Moller; Marcus (Muchen, DE), Neubauer;
Werner (Muchen, DE) |
Assignee: |
Siemens Aktiengesellschaft
(Munich, DE)
|
Family
ID: |
6459560 |
Appl.
No.: |
08/338,608 |
Filed: |
November 21, 1994 |
PCT
Filed: |
May 03, 1993 |
PCT No.: |
PCT/DE93/00385 |
371
Date: |
November 21, 1994 |
102(e)
Date: |
November 21, 1994 |
PCT
Pub. No.: |
WO93/24874 |
PCT
Pub. Date: |
December 09, 1993 |
Foreign Application Priority Data
|
|
|
|
|
May 22, 1992 [DE] |
|
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42 17 093.1 |
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Current U.S.
Class: |
318/587;
318/568.12; 318/568.16; 701/26 |
Current CPC
Class: |
G01S
15/89 (20130101); G05D 1/0255 (20130101); G05D
1/0246 (20130101); G05D 1/0274 (20130101); G05D
2201/0203 (20130101); G05D 2201/0207 (20130101); G05D
2201/0215 (20130101) |
Current International
Class: |
G01S
15/89 (20060101); G01S 15/00 (20060101); G05D
1/02 (20060101); G06F 015/50 () |
Field of
Search: |
;364/424.02,516
;318/568.16,587,568.12 ;250/379,253 |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
Wiklund, U., Anderson, U., Hyyppa, K., Gelders, L. F., "AGV
navigation by angle measurements", Automated Guided Vehicle
Systems. Proceedings of the 6th International Conference, AGVS-6,
Brussels, Belgium 25-26 Oct. 1988, pp. 199-212, Kempston, UK IFS
Publications 1854230247. .
Fahringer, B. J., "AGVs and automation: getting there", Production
(USA) vol. 101, No. 7, pp. 35-39, Jul. 1989. .
Hill, L., "Improvements in inductive communications for wire-guided
AGVs", Automated Guided Vehicle Systems. Proceedings of the 7th
International Conference. Technology for Tomorrow, Berlin, West
Germany 13-14 Jun. 1989, p. 69-81 vi + 160 1989, Bedford, UK IFS
1854230484. .
Robins, M. P., "Free-ranging automatic guided vehicle System", GEC
Rev. (GB), vol. 2, No. 2, pp. 129-132, 1986..
|
Primary Examiner: Cabeca; John W.
Attorney, Agent or Firm: Hill, Steadman & Simpson
Claims
We claim:
1. A process for exploring an area, comprising the steps of:
a) in a first step, providing a self-propelled device and
establishing a boundary of the area;
b) in a further step, moving the self-propelled device up to the
boundary of the area;
c) in a further step, moving the device along the boundary and when
doing so applying markings along a path at a distance from the
boundary;
d) in a further step, turning around the device when the device
encounters a further boundary of the area, the device taking
bearings from the previously applied markings, and applying further
markings at a distance from the previously applied markings;
e) carrying out the steps c) and d) until an entire area of the
area has been explored; and
f) recording a result of the exploring for further evaluation.
2. The method as claimed in claim 1, wherein the markings are small
metal plates.
3. The method as claimed in claim 1, wherein the markings are
odoriferous substances.
4. The method as claimed in claim 1, wherein the method further
comprises removing the markings after use of the markings.
5. The method as claimed in claim 1, wherein the method further
comprises providing a sensor on the device, and using the sensor to
detect the previously applied markings.
6. The method as claimed in claim 5, wherein the sensor is an
ultrasonic sensor.
7. The method as claimed in claim 5, wherein the sensor is a
camera.
8. A process for exploring an area, comprising the steps of:
a) in a first step, providing a self-propelled device and
establishing a boundary of the area;
b) in a further step, moving the self-propelled device up to the
boundary of the area;
c) in a further step, moving the device along the boundary and when
doing so laying a cable along a path at a distance from the
boundary;
d) in a further step, turning around the device when the device
encounters a further boundary of the area, the device taking
bearings from the previously laid cable, and laying further cable
at a distance from the previously laid cable;
e) carrying out the steps c) and d) until an entire area of the
area has been explored; and
f) recording a result of the exploring for further evaluation.
9. The process as claimed in claim 8, wherein the process further
comprises removing the cable after use of the cable.
10. The process as claimed in claim 8, wherein the process further
comprises providing a sensor on the device, and using the sensor to
detect the previously laid cable.
11. The process as claimed in claim 10, wherein the sensor is an
ultrasonic sensor.
12. The process as claimed in claim 10, wherein the sensor is a
camera.
Description
BACKGROUND OF THE INVENTION
Nowadays there is a wide range of possible applications for
autonomously operating mobile units. Just think in this respect of
remote sensing probes, mobile units which operate in hazardous
areas, self-propelled industrial vacuum cleaners, transporting
vehicles in the production industry etc. To ensure that these
autonomously operating self-propelled units have greatest possible
freedom of movement and are flexible in use, it is often desirable
and appropriate for these units first of all to mark and explore
their working area. Until now, processes in which the working area
is marked in advance have often been used (bar codes for laser
triangulation, Wiklund, U., Anderson, U., Hyyppa, K., Gelders, L.
F., "AGV navigation by angle measurements" Automated Guided Vehicle
Systems, Proceedings of the 6th International Conference, AGVS-6,
Brussels, Belgium 25-26 Oct. 1988, p. 199-212, Kempston, UK IFS
Publications 1854230247; transponders, Hill, L., "Improvements in
inductive communications for wire-guided AGVs", Automated Guided
Vehicle Systems, Proceedings of the 7th International Conference,
Technology for Tomorrow, Berlin, West Germany 13-14 Jun. 1989, p.
69-81 vi+160 1989, Bedford, UK IFS 1854230484; guide lines,
Fahringer, B. J., "AGVs and automation: getting there", Production
(USA) Vol 101, No 7, p 35-39, Jul. 1989, so that mobile systems can
take their bearings from these marks. These processes all have the
disadvantage that they are complicated and that they restrict the
flexibility of use of the system.
A further known possibility is the use of complex sensory
technology, by which landmarks present in the working area are
extracted and serve as an orientation aid for the self-propelled
autonomous system, Robins, M. P., "Free-ranging automatic guided
vehicle System", GEC Rev. (GB), Vol 2, No 2, p. 129-132, 1986. In
this case, the disadvantage is the very complex sensory technology
and the necessity for the presence of landmarks in the vicinity of
use. Further possibilities for exploring working areas and their
marking are not known.
SUMMARY OF THE INVENTION
The object on which the invention is based is to specify a movable
device and a process for exploring and mapping an area, with which
the area does not have to have any special characteristics
specifically for exploring.
This object is achieved for the device and for the process of the
present invention as follows.
In general terms the present invention is a self-propelled device
for exploring an area. The device has at least one sensor, which
detects obstacles in the area, means for marking the area and means
for detecting the marking means. The device has a memory for
storing the geometry of the area.
The present invention is also a process for exploring an area, in
which in a first step, a boundary of the area is established. In a
further step, a self-propelled device moves up to the boundary of
the area. In a further step, the device moves along the boundary
and when doing so applies markings along the path at a distance
from the boundary. In a further step, the device turns around when
it encounters a further boundary of the area and moves, taking its
bearings from the previously applied markings, and applies further
markings at a distance from the previously applied markings. These
last two steps are repeated until the entire area has been
explored. The result of the exploring is recorded for further
evaluation.
All other further developments of the present invention are as
follows.
The device has a sensor that detects the area boundary. The means
for marking are small metal plates, a power cable of the device, or
odoriferous substances or other substances. The device removes the
marking after use. The means for detecting the marking means is the
sensor. The sensor is an ultrasonic sensor or a camera.
An advantage of the present invention is that it can mark areas
independently.
It is particularly favorable when exploring and marking areas to
begin with the boundary of the area.
It is furthermore advantageous that the device according to the
present invention independently detects obstacles by a sensor.
A special advantage of the invented device is that of using marking
means which the device contains in any case, for example of taking
a power cable or removable marking means with it, such as small
metal plates, and using these as a marking, since an unnecessary
number of marking means do not have to be taken along.
It is favorable in the invented device to use the sensor also for
detecting the marking means, since in this way only one sensor has
to be taken along.
The use of an ultrasonic sensor is particularly advantageous in the
case of the device according to the present invention. This makes
it possible to dispense with lighting and there are sufficient
known processes which are based on ultrasonic orientation.
A further favorable sensor for the present invention is a camera,
since this allows marking means and obstacles to be detected
easily.
The device according to the invention is used particularly
favorably in a process in which first of all a boundary of the area
is established by the sensor, then the device moves along this area
boundary and thereby applies markings and then, after encountering
a further boundary of the area, turns round and moves back along
the previously applied markings, this operation being repeated
until the entire area has been covered. In this way it is ensured
that the entire area is explored and marked by the device in an
optimum way.
It may also be advantageous to use the device and the exploring
process according to the invention for mapping the area or
recording its geometry, since no further exploring will be required
for future uses.
BRIEF DESCRIPTION OF THE DRAWINGS
The features of the present invention which are believed to be
novel, are set forth with particularity in the appended claims. The
invention, together with further objects and advantages, may best
be understood by reference to the following description taken in
conjunction with the accompanying drawings, in the several Figures
of which like reference numerals identify like elements, and in
which:
FIG. 1 shows a device according to the invention when applying the
marking and when carrying out the process.
FIG. 2 shows the device according to the invention when picking up
the markings and at the same time applying new markings.
FIG. 3 shows an alternative embodiment of the present invention
using a power cable for marking a path.
FIG. 4 is another view of the alternative embodiment of FIG. 3.
DESCRIPTION OF THE PREFERRED EMBODIMENT
In FIG. 1, a self-propelled device AE is shown, which moves in an
area to be explored. Area boundary B is shown, and markings M1 can
be seen. The self-propelled device has a sensor, which enables it
to detect the area boundary and the markings M1. When exploring the
unknown area, the following occurs:
The self-propelled device AE detects by its sensor S the area
boundary B. It moves in the direction of the area boundary B and
then runs parallel to the area boundary in the direction of
movement indicated by the direction of the arrow. When doing so, it
applies at regular intervals markings M1, which are at a distance
from the area boundary, as shown in the figure. The markings M1
applied here may be, for example, small metal plates. It is also
conceivable, however, that the self-propelled device lays out the
power cable MM1 (see FIGS. 3 and 4) during its movement and uses
this as a marking. Further possibilities of marking are odoriferous
markings or chemical markings.
While the self-propelled device is moving along and applying
markings, it can also at the same time perform a function. This
function may be, for example, a vacuum cleaning operation. It is
also conceivable, however, that, for example, surface areas are
provided with paint or that the device applies or collects other
substances or carries out similar activities.
The self-propelled device continues to travel in the direction of
movement represented by the arrow until it encounters a further
area boundary B. Until then it also continues to carry out its
marking activity. When it arrives at the area boundary, the
self-propelled device AE turns. Everything which follows is then
shown in FIG. 2.
FIG. 2 shows the self-propelled device AE, which is moving along
markings M1. This self-propelled device AE has a sensor S, by which
it detects markings M1 which it has laid out before. This sensor
enables the device to move along the markings.
While the self-propelled device is moving along the markings M1, it
picks them up again, for example, and lays them out again along a
path approximately the width of the device as markings M2. The
markings M1 may well be identical to the markings M2. Here it is
intended only to show that they are then at a different location
when they are laid out by the device AE. During its moving
operation, the device can perform an activity, as also already
described in FIG. 1. The movement of the self-propelled device AE
in the direction of the arrow continues until it again encounters a
boundary of the area to be explored. Subsequently, the device turns
and moves with the aid of the sensor along the previously laid-out
markings M2 in the opposite direction through the area to be
explored. The procedure is in this case analogous to that described
above. The device can then again lay out new markings, while it
picks up the markings M2.
This moving and marking operation continues until the entire area
has been covered. By this process according to the invention and
the invented device it is ensured that an exact determination of
the position of the device is permitted and that an optimum overlap
of the paths of movement can be ensured.
The invention is not limited to the particular details of the
method and apparatus depicted and other modifications and
applications are contemplated. Certain other changes may be made in
the above described method and apparatus without departing from the
true spirit and scope of the invention herein involved. It is
intended, therefore, that the subject matter in the above depiction
shall be interpreted as illustrative and not in a limiting
sense.
* * * * *